09 - TT and cart theory¶
▶ 09 - TT and cart theory — Watch on YouTube
[Music] [Music] we need to put some theory to understand we need to put some theory to understand we need to put some theory to understand why target tracking in Cartesian why target tracking in Cartesian why target tracking in Cartesian actually works the theory allows us to actually works the theory allows us to actually works the theory allows us to comprehend why it works with us how to comprehend why it works with us how to comprehend why it works with us how to better use it if we have the camera and better use it if we have the camera and better use it if we have the camera and the camera is in 3d space when we have a the camera is in 3d space when we have a the camera is in 3d space when we have a target and the target is in 3d space in order to move my camera in space in X Y order to move my camera in space in X Y Z I need three large axes of motion on Z I need three large axes of motion on Z I need three large axes of motion on my machine so I need a large axis but my machine so I need a large axis but my machine so I need a large axis but move my camera in X Y and instead correspondingly if I'm going to move my correspondingly if I'm going to move my target in X and Y and Zed I need three target in X and Y and Zed I need three target in X and Y and Zed I need three small axes that will move my target in X small axes that will move my target in X small axes that will move my target in X Y and Zed in order for target tracking Y and Zed in order for target tracking Y and Zed in order for target tracking to work I have to have a kinematics to work I have to have a kinematics to work I have to have a kinematics model the kinematics model we looked at model the kinematics model we looked at model the kinematics model we looked at earlier if a definition of the shape of earlier if a definition of the shape of earlier if a definition of the shape of the machine and its sizes and what each the machine and its sizes and what each the machine and its sizes and what each axis does to the camera thus in order for target tracking to thus in order for target tracking to work I have to have three large axes one work I have to have three large axes one work I have to have three large axes one that moves the camera in it one that that moves the camera in it one that that moves the camera in it one that moves the camera in Y one that moves the moves the camera in Y one that moves the moves the camera in Y one that moves the camera in Zed and these axes are target camera in Zed and these axes are target camera in Zed and these axes are target tracking actions in other words if I tracking actions in other words if I tracking actions in other words if I move my camera I want my target tracking move my camera I want my target tracking move my camera I want my target tracking axes to do that without my needing to axes to do that without my needing to axes to do that without my needing to resort to moving individual axes I want resort to moving individual axes I want resort to moving individual axes I want to be able to move my camera in 3d space to be able to move my camera in 3d space to be able to move my camera in 3d space and have my target tracking axes just do and have my target tracking axes just do and have my target tracking axes just do that as slaves to the mathematics of the that as slaves to the mathematics of the that as slaves to the mathematics of the movement of my camera correspondingly if movement of my camera correspondingly if movement of my camera correspondingly if I want to move my target in 3d space X Y I want to move my target in 3d space X Y I want to move my target in 3d space X Y Z I need three target tracking type axes Z I need three target tracking type axes Z I need three target tracking type axes that will move my target in X Y and Zed that will move my target in X Y and Zed that will move my target in X Y and Zed and not need to resort to which axis and not need to resort to which axis and not need to resort to which axis does what because the kinematics file does what because the kinematics file does what because the kinematics file defines which axes our target tracking defines which axes our target tracking defines which axes our target tracking axes and what they do to the camera and axes and what they do to the camera and axes and what they do to the camera and where the camera is looking therefore I where the camera is looking therefore I where the camera is looking therefore I have when I look at my axes in each axis have when I look at my axes in each axis have when I look at my axes in each axis setup I have a type of axis the rotate setup I have a type of axis the rotate setup I have a type of axis the rotate here here here is your target tracking axis the lift is is your target tracking axis the lift is is your target tracking axis the lift is a target tracking axis the arm is a a target tracking axis the arm is a a target tracking axis the arm is a target tracking axis the lift moved my target tracking axis the lift moved my target tracking axis the lift moved my camera in Zed the rotate moved my camera camera in Zed the rotate moved my camera camera in Zed the rotate moved my camera my the arm moved my camera in X my the arm moved my camera in X my the arm moved my camera in X therefore I have three large axes that therefore I have three large axes that therefore I have three large axes that move my camera and define where in space move my camera and define where in space move my camera and define where in space it is or are slaves to the movement of it is or are slaves to the movement of it is or are slaves to the movement of the camera and merely do it they're told the camera and merely do it they're told the camera and merely do it they're told in order to get camera to the correct in order to get camera to the correct in order to get camera to the correct position correspondingly if I look up my position correspondingly if I look up my position correspondingly if I look up my pan axis is your target tracking axis I pan axis is your target tracking axis I pan axis is your target tracking axis I look up my tilt axis look up my tilt axis look up my tilt axis it's your target tracking axis my focus it's your target tracking axis my focus it's your target tracking axis my focus axis is a focus type now if I have a axis is a focus type now if I have a axis is a focus type now if I have a target and a camera when I pan the target and a camera when I pan the target and a camera when I pan the camera the target is moving in space so camera the target is moving in space so camera the target is moving in space so pan as a target tracking axis is obeying pan as a target tracking axis is obeying pan as a target tracking axis is obeying the commands of what I want the target the commands of what I want the target the commands of what I want the target to do my tilt moves my target in space to do my tilt moves my target in space to do my tilt moves my target in space vertically in Zed so my kilt is a target vertically in Zed so my kilt is a target vertically in Zed so my kilt is a target tracking axis and defines or is defined tracking axis and defines or is defined tracking axis and defines or is defined by what I do with my target my focus by what I do with my target my focus by what I do with my target my focus moves moves moves my target in X with respect to the my target in X with respect to the my target in X with respect to the camera therefore I can move my camera in camera therefore I can move my camera in camera therefore I can move my camera in X Y get my target in X Y Zed I have one X Y get my target in X Y Zed I have one X Y get my target in X Y Zed I have one other target tracking axis and that is other target tracking axis and that is other target tracking axis and that is roll and as we have seen with this roll and as we have seen with this roll and as we have seen with this machine in order to go into Cartesian machine in order to go into Cartesian machine in order to go into Cartesian control and reliably know what our control and reliably know what our control and reliably know what our camera is going to do I have to fix the camera is going to do I have to fix the camera is going to do I have to fix the roll somehow by using row level or roll roll somehow by using row level or roll roll somehow by using row level or roll up rather than roll moves wrong moves up rather than roll moves wrong moves up rather than roll moves wrong moves implies that my role is free to do implies that my role is free to do implies that my role is free to do whatever it likes and if a target whatever it likes and if a target whatever it likes and if a target tracking actually he's free to do tracking actually he's free to do tracking actually he's free to do whatever it likes then anything can whatever it likes then anything can whatever it likes then anything can happen happen happen so for Cartesian to be functional on so for Cartesian to be functional on so for Cartesian to be functional on this machine I have to go into row level this machine I have to go into row level this machine I have to go into row level or roll up and thus I don't have to or roll up and thus I don't have to or roll up and thus I don't have to worry about what my role is going to do worry about what my role is going to do worry about what my role is going to do [Music]